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<div class="title">MapDrawer.h</div>  </div>
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<a href="_map_drawer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef MAPDRAWER_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define MAPDRAWER_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_map_8h.html">Map.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_map_point_8h.html">MapPoint.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_key_frame_8h.html">KeyFrame.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include&lt;pangolin/pangolin.h&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include&lt;mutex&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">   41</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a649a10671736e192e85a6d824d776fc1">MapDrawer</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;strSettingPath);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#aa10e7a80919749c11774eb84219f0a4b">   66</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#aa10e7a80919749c11774eb84219f0a4b">mpMap</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#acde87836a1eed3d297c6524028388a3f">DrawMapPoints</a>(<span class="keywordtype">bool</span> color = <span class="keyword">false</span>);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a5e00f408c3c2d1878ca53930903caa5f">DrawKeyFrames</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> bDrawKF, <span class="keyword">const</span> <span class="keywordtype">bool</span> bDrawGraph);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#af8d3dec705fc048dac229cf682bfceb1">DrawCurrentCamera</a>(pangolin::OpenGlMatrix &amp;Twc);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ac8c03502b5878303b31816ce5dfd9c0a">SetCurrentCameraPose</a>(<span class="keyword">const</span> cv::Mat &amp;Tcw);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ac72cc0b3e9e3a92527b38ca12230e79c">SetReferenceKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a872b93687086460e398e912191c91aca">GetCurrentOpenGLCameraMatrix</a>(pangolin::OpenGlMatrix &amp;M);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#abfabe8a5d66f8ecc64021aeff9a14a9e">GetCurrentOpenGLCameraMatrixModified</a>(cv::Mat &amp;T, pangolin::OpenGlMatrix &amp;M);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#af26fb341deb8fac97ff3c19e61326f21">  138</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#af26fb341deb8fac97ff3c19e61326f21">mKeyFrameSize</a>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#afbdf0b3ccfbbbcec719d6c8b2ed5832d">  141</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#afbdf0b3ccfbbbcec719d6c8b2ed5832d">mKeyFrameLineWidth</a>;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a3ba8aa0b866fc4bfde76d5e8f592be7b">  144</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a3ba8aa0b866fc4bfde76d5e8f592be7b">mGraphLineWidth</a>;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ad98a7d7b4aaee890a41696bef0786b84">  147</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ad98a7d7b4aaee890a41696bef0786b84">mPointSize</a>;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a485491f1257e132b10a4d129b4f3f9ce">  150</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a485491f1257e132b10a4d129b4f3f9ce">mCameraSize</a>;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a9d9d5a9b0b0c73ac47288bb31ab02487">  153</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a9d9d5a9b0b0c73ac47288bb31ab02487">mCameraLineWidth</a>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a1df47d70a2609cd77d7be569d053e908">  160</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a1df47d70a2609cd77d7be569d053e908">mCameraPose</a>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#adf8ac349e12a7ae5b8c7e4af7a806ee5">  165</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#adf8ac349e12a7ae5b8c7e4af7a806ee5">mMutexCamera</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;};</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="preprocessor">#endif // MAPDRAWER_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a9d9d5a9b0b0c73ac47288bb31ab02487"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a9d9d5a9b0b0c73ac47288bb31ab02487">ORB_SLAM2::MapDrawer::mCameraLineWidth</a></div><div class="ttdeci">float mCameraLineWidth</div><div class="ttdoc">Ancho del trazo para dibujar la cámara, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:153</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_acde87836a1eed3d297c6524028388a3f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#acde87836a1eed3d297c6524028388a3f">ORB_SLAM2::MapDrawer::DrawMapPoints</a></div><div class="ttdeci">void DrawMapPoints(bool color=false)</div><div class="ttdoc">Dibuja en pantalla todos los puntos 3D del mapa. </div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:42</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a1df47d70a2609cd77d7be569d053e908"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a1df47d70a2609cd77d7be569d053e908">ORB_SLAM2::MapDrawer::mCameraPose</a></div><div class="ttdeci">cv::Mat mCameraPose</div><div class="ttdoc">Pose de la cámara. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:160</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_af8d3dec705fc048dac229cf682bfceb1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#af8d3dec705fc048dac229cf682bfceb1">ORB_SLAM2::MapDrawer::DrawCurrentCamera</a></div><div class="ttdeci">void DrawCurrentCamera(pangolin::OpenGlMatrix &amp;Twc)</div><div class="ttdoc">Dibuja la cámara en la pose dada. </div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:229</div></div>
<div class="ttc" id="_map_point_8h_html"><div class="ttname"><a href="_map_point_8h.html">MapPoint.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_abfabe8a5d66f8ecc64021aeff9a14a9e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#abfabe8a5d66f8ecc64021aeff9a14a9e">ORB_SLAM2::MapDrawer::GetCurrentOpenGLCameraMatrixModified</a></div><div class="ttdeci">void GetCurrentOpenGLCameraMatrixModified(cv::Mat &amp;T, pangolin::OpenGlMatrix &amp;M)</div><div class="ttdoc">Similar a MapDrawer::GetCurrentOpenGLCameraMAtriz, informa la pose del mundo respecto del visor...</div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:319</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_aa10e7a80919749c11774eb84219f0a4b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#aa10e7a80919749c11774eb84219f0a4b">ORB_SLAM2::MapDrawer::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa del mundo. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:66</div></div>
<div class="ttc" id="_map_8h_html"><div class="ttname"><a href="_map_8h.html">Map.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_afbdf0b3ccfbbbcec719d6c8b2ed5832d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#afbdf0b3ccfbbbcec719d6c8b2ed5832d">ORB_SLAM2::MapDrawer::mKeyFrameLineWidth</a></div><div class="ttdeci">float mKeyFrameLineWidth</div><div class="ttdoc">Ancho del trazo para dibujar keyframes, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:141</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a485491f1257e132b10a4d129b4f3f9ce"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a485491f1257e132b10a4d129b4f3f9ce">ORB_SLAM2::MapDrawer::mCameraSize</a></div><div class="ttdeci">float mCameraSize</div><div class="ttdoc">Tamaño de la cámara a dibujar, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:150</div></div>
<div class="ttc" id="_key_frame_8h_html"><div class="ttname"><a href="_key_frame_8h.html">KeyFrame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a5e00f408c3c2d1878ca53930903caa5f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a5e00f408c3c2d1878ca53930903caa5f">ORB_SLAM2::MapDrawer::DrawKeyFrames</a></div><div class="ttdeci">void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph)</div><div class="ttdoc">Dibuja los keyframes y el grafo en pantalla. </div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:133</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">ORB_SLAM2::MapDrawer</a></div><div class="ttdoc">Esta clase contiene los métodos para dibujar en pangolin. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:41</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a872b93687086460e398e912191c91aca"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a872b93687086460e398e912191c91aca">ORB_SLAM2::MapDrawer::GetCurrentOpenGLCameraMatrix</a></div><div class="ttdeci">void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &amp;M)</div><div class="ttdoc">Informa Twc, la pose actual del mundo respecto de la cámara, en formato pangolin. ...</div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:278</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_ac8c03502b5878303b31816ce5dfd9c0a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ac8c03502b5878303b31816ce5dfd9c0a">ORB_SLAM2::MapDrawer::SetCurrentCameraPose</a></div><div class="ttdeci">void SetCurrentCameraPose(const cv::Mat &amp;Tcw)</div><div class="ttdoc">Informa la pose de la cámara al objeto MapDrawer, que la copia a MapDrawer::mCameraPose. </div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:272</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_ac72cc0b3e9e3a92527b38ca12230e79c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ac72cc0b3e9e3a92527b38ca12230e79c">ORB_SLAM2::MapDrawer::SetReferenceKeyFrame</a></div><div class="ttdeci">void SetReferenceKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Método declarado y no definido. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a649a10671736e192e85a6d824d776fc1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a649a10671736e192e85a6d824d776fc1">ORB_SLAM2::MapDrawer::MapDrawer</a></div><div class="ttdeci">MapDrawer(Map *pMap, const string &amp;strSettingPath)</div><div class="ttdoc">Constructor que toma sus parámetros directamente desde el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.cc:30</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_adf8ac349e12a7ae5b8c7e4af7a806ee5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#adf8ac349e12a7ae5b8c7e4af7a806ee5">ORB_SLAM2::MapDrawer::mMutexCamera</a></div><div class="ttdeci">std::mutex mMutexCamera</div><div class="ttdoc">mutex que evita que cambios en la pose de la cámara cuando se le están extrayendo los vectores rotaci...</div><div class="ttdef"><b>Definition:</b> MapDrawer.h:165</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_ad98a7d7b4aaee890a41696bef0786b84"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#ad98a7d7b4aaee890a41696bef0786b84">ORB_SLAM2::MapDrawer::mPointSize</a></div><div class="ttdeci">float mPointSize</div><div class="ttdoc">Tamaño de los puntos del mapa, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:147</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_af26fb341deb8fac97ff3c19e61326f21"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#af26fb341deb8fac97ff3c19e61326f21">ORB_SLAM2::MapDrawer::mKeyFrameSize</a></div><div class="ttdeci">float mKeyFrameSize</div><div class="ttdoc">Tamaño de los keyframe a dibujar, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:138</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html_a3ba8aa0b866fc4bfde76d5e8f592be7b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html#a3ba8aa0b866fc4bfde76d5e8f592be7b">ORB_SLAM2::MapDrawer::mGraphLineWidth</a></div><div class="ttdeci">float mGraphLineWidth</div><div class="ttdoc">Ancho del trazo del grafo, definido en el archivo de configuración. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:144</div></div>
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